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java.lang.Objectsugr.Element
sugr.Transformation
This class contains main methods for transformations and their special cases. Important to know:
if matrix A is given by : | a b | | c d | then the vector is given by: | a | | c | = vec(A) | b | | d |
Field Summary |
Fields inherited from class sugr.Element |
cov, MAXITER, v |
Constructor Summary | |
Transformation()
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Method Summary | |
protected Matrix |
errorProp(Transformation a,
Transformation b)
calculates the error propagation between two transformations Note that there is only needed one method for 2D and 3D case |
abstract int |
getDegreesOfFreedom()
Returns number of elements to specify a transformation |
abstract int |
getDimCol()
Get the number of columns of the transformation matrix. |
int |
getDimension()
DIM cannot be used in subclasses' way. |
abstract int |
getDimRow()
Get the number of rows of the transformation matrix. |
abstract Matrix |
getJacobianAfterFirst(Entity e)
The the Jacobian after the first entity of a trilinear relation. |
abstract Matrix |
getJacobianAfterSecond(Entity e)
The the Jacobian after the second entity of a trilinear relation. |
Matrix |
getJacobianOfRelation(RelationalProperty rp)
Get the (joint) Jacobian matrix after the observation of a trilinear Relation between two entities and a tranformation. |
protected Matrix[] |
getReducedAB(RelationalProperty r)
Get the reduced Matrix A and B from a relational property. |
Matrix |
getTransformationMatrix()
If you want to get the Transformation-Matrix (Affinity, Motion, Rotation, Translation) use this method. |
static Matrix |
getTransposeTransMatrix(int size)
Get a transformation matrix A which transforms vec(Ht)=A*vec(H). |
abstract Entity |
transform(Entity e)
Transforms an entity with this transformation. |
protected Entity |
transform(Matrix h,
Matrix covariance,
Entity e,
java.lang.Class newType)
Do a transformation with given transformation matrix and covariance of tranformation matrix. |
Methods inherited from class sugr.Element |
approximate, calcCov, changeNullspace, changeNullspace, checkCovDim, checkElement, clone, doCondition, ensureConstraints, estimate, estimate, gaussHelmertIterations, gaussHelmertIterationsOld, getConstraintValue, getCov, getJacobianOfConstraint, getV, normalizeSphere, normalizeSphereComparable, print, print, reduceFirstMatrix, reduceMatrix, reduceMatrix, setCov, setV, toString |
Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
public Transformation()
Method Detail |
public abstract int getDegreesOfFreedom()
getDegreesOfFreedom
in class Element
public abstract Entity transform(Entity e)
e
- Entity to transform
public Matrix getTransformationMatrix()
public int getDimension()
getDimension
in class Element
public abstract int getDimRow()
public abstract int getDimCol()
protected Entity transform(Matrix h, Matrix covariance, Entity e, java.lang.Class newType)
h
- tranformation matrixcovariance
- covariance matrix of transformation matrix. This
is actually the covariance of vec(h).newType
- type of the new transformed entity
protected Matrix errorProp(Transformation a, Transformation b)
a
- first Transformationb
- second Transformation
protected Matrix[] getReducedAB(RelationalProperty r)
getReducedAB
in class Element
r
- the relational Property
public Matrix getJacobianOfRelation(RelationalProperty rp)
getJacobianOfRelation
in class Element
rp
- the relational property which is for transformations
always a TrirelationalProperty.
public abstract Matrix getJacobianAfterFirst(Entity e)
e
- the second Entity of the relation.public abstract Matrix getJacobianAfterSecond(Entity e)
e
- the first Entity of the relation.public static Matrix getTransposeTransMatrix(int size)
size
- number of rows (and columns) of H
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